Method and device for navigating

Abstract

A navigation method is provided. The method relates to the field of computer technologies, and in particular, to the field of augmented reality technologies and visual navigation technologies. An implementation is: in response to resumption of navigation after interruption, calculating an initial angle of an inertial sensor based on an angle of a gyroscope; and continuing the navigation based on the initial angle of the inertial sensor and a position of a visual odometry device before the interruption.

What is claimed is: 
     
         1 . A navigation method, comprising:
 in response to resuming navigation after interruption, calculating an initial angle of an inertial sensor based on an angle of a gyroscope included in the inertial sensor, wherein the inertial sensor is included in a visual odometry device; and   continuing the navigation based on the initial angle of the inertial sensor and a position of the visual odometry device before the interruption.   
     
     
         2 . The navigation method according to  claim 1 , further comprising:
 before the calculating the initial angle of the inertial sensor based on the angle of the gyroscope, and in response to the navigation being performed, calculating an angle conversion relationship between the gyroscope and the inertial sensor,   wherein the calculating the initial angle of the inertial sensor based on the angle of the gyroscope comprises:
 calculating the initial angle of the inertial sensor based on the angle of the gyroscope and the angle conversion relationship between the gyroscope and the inertial sensor. 
   
     
     
         3 . The navigation method according to  claim 2 ,
 wherein an angle of each of the gyroscope and the inertial sensor comprises a yaw angle component, a pitch angle component, and a roll angle component; and   wherein the angle conversion relationship between the gyroscope and the inertial sensor comprises:
 a first conversion relationship between the yaw angle component of the gyroscope and the yaw angle component of the inertial sensor; 
 a second conversion relationship between the pitch angle component of the gyroscope and the pitch angle component of the inertial sensor; and 
 a third conversion relationship between the roll angle component of the gyroscope and the roll angle component of the inertial sensor. 
   
     
     
         4 . The navigation method according to  claim 3 , wherein the angle conversion relationship between the gyroscope and the inertial sensor is based on:
 subtracting a yaw angle offset from the yaw angle component of the gyroscope to obtain the yaw angle component of the inertial sensor;   subtracting a pitch angle offset from the pitch angle component of the gyroscope to obtain the pitch angle component of the inertial sensor; and   subtracting a roll angle offset from the roll angle component of the gyroscope to obtain the roll angle component of the inertial sensor.   
     
     
         5 . The navigation method according to  claim 1 , wherein the continuing the navigation based on the initial angle of the inertial sensor and the position of the visual odometry device before the interruption comprises:
 setting an initial angle of the visual odometry device as the initial angle of the inertial sensor;   setting an initial position of the visual odometry device as the position of the visual odometry device before the interruption; and   continuing the navigation based on the initial angle of the inertial sensor and the initial position of the visual odometry device.   
     
     
         6 . The navigation method according to  claim 5 , further comprising:
 in response to the interruption of the navigation, sending an instruction to prompt a user to stop moving.   
     
     
         7 . A navigation device, comprising:
 a visual odometry device comprising an inertial sensor, wherein the inertial sensor comprises a gyroscope; and   a processor configured to execute:
 in response to resuming navigation after interruption, calculating an initial angle of the inertial sensor based on an angle of the gyroscope; and 
 continuing the navigation based on the initial angle of the inertial sensor and a position of the visual odometry device before the interruption. 
   
     
     
         8 . The navigation device according to  claim 7 , wherein the processor is further configured to execute:
 before the calculating the initial angle of the inertial sensor based on the angle of the gyroscope, and in response to the navigation being performed, calculating an angle conversion relationship between the gyroscope and the inertial sensor,   wherein the calculating the initial angle of the inertial sensor based on the angle of the gyroscope comprises:
 calculating the initial angle of the inertial sensor based on the angle of the gyroscope and the angle conversion relationship between the gyroscope and the inertial sensor. 
   
     
     
         9 . The navigation device according to  claim 8 ,
 wherein an angle of each of the gyroscope and the inertial sensor comprises a yaw angle component, a pitch angle component, and a roll angle component; and   wherein the angle conversion relationship between the gyroscope and the inertial sensor comprises:
 a first conversion relationship between the yaw angle component of the gyroscope and the yaw angle component of the inertial sensor; 
 a second conversion relationship between the pitch angle component of the gyroscope and the pitch angle component of the inertial sensor; and 
 a third conversion relationship between the roll angle component of the gyroscope and the roll angle component of the inertial sensor. 
   
     
     
         10 . The navigation device according to  claim 9 , wherein the angle conversion relationship between the gyroscope and the inertial sensor is based on:
 subtracting a yaw angle offset from the yaw angle component of the gyroscope to obtain the yaw angle component of the inertial sensor;   subtracting a pitch angle offset from the pitch angle component of the gyroscope to obtain the pitch angle component of the inertial sensor; and   subtracting a roll angle offset from the roll angle component of the gyroscope to obtain the roll angle component of the inertial sensor.   
     
     
         11 . The navigation device according to  claim 7 , wherein the continuing the navigation based on the initial angle of the inertial sensor and the position of the visual odometry device before the interruption comprises:
 setting an initial angle of the visual odometry device as the initial angle of the inertial sensor;   setting an initial position of the visual odometry device as the position of the visual odometry device before the interruption; and   continuing the navigation based on the initial angle of the inertial sensor and the initial position of the visual odometry device.   
     
     
         12 . The navigation device according to  claim 7 , wherein the processor is further configured to execute:
 in response to the interruption of the navigation, sending an instruction to prompt a user to stop moving.   
     
     
         13 . A non-transitory computer-readable storage medium storing computer instructions that, when executed by a processor, cause a computer to execute:
 in response to resuming navigation after interruption, calculating an initial angle of an inertial sensor based on an angle of a gyroscope included in the inertial sensor, wherein the inertial sensor is included in a visual odometry device; and   continuing the navigation based on the initial angle of the inertial sensor and a position of the visual odometry device before the interruption.   
     
     
         14 . The non-transitory computer-readable storage medium according to  claim 13 , wherein the computer instructions, when executed by the processor, further cause the computer to execute:
 before the calculating the initial angle of the inertial sensor based on the angle of the gyroscope, and in response to the navigation being performed, calculating an angle conversion relationship between the gyroscope and the inertial sensor,   wherein the calculating the initial angle of the inertial sensor based on the angle of the gyroscope comprises:
 calculating the initial angle of the inertial sensor based on the angle of the gyroscope and the angle conversion relationship between the gyroscope and the inertial sensor. 
   
     
     
         15 . The non-transitory computer-readable storage medium according to  claim 14 ,
 wherein an angle of each of the gyroscope and the inertial sensor comprises a yaw angle component, a pitch angle component, and a roll angle component; and   wherein the angle conversion relationship between the gyroscope and the inertial sensor comprises:
 a first conversion relationship between the yaw angle component of the gyroscope and the yaw angle component of the inertial sensor; 
 a second conversion relationship between the pitch angle component of the gyroscope and the pitch angle component of the inertial sensor; and 
 a third conversion relationship between the roll angle component of the gyroscope and the roll angle component of the inertial sensor. 
   
     
     
         16 . The non-transitory computer-readable storage medium according to  claim 15 , wherein the angle conversion relationship between the gyroscope and the inertial sensor is based on:
 subtracting a yaw angle offset from the yaw angle component of the gyroscope to obtain the yaw angle component of the inertial sensor;   subtracting a pitch angle offset from the pitch angle component of the gyroscope to obtain the pitch angle component of the inertial sensor; and   subtracting a roll angle offset from the roll angle component of the gyroscope to obtain the roll angle component of the inertial sensor.   
     
     
         17 . The non-transitory computer-readable storage medium according to  claim 13 , wherein the continuing the navigation based on the initial angle of the inertial sensor and the position of the visual odometry device before the interruption comprises:
 setting an initial angle of the visual odometry device as the initial angle of the inertial sensor;   setting an initial position of the visual odometry device as the position of the visual odometry device before the interruption; and   continuing the navigation based on the initial angle of the inertial sensor and the initial position of the visual odometry device.   
     
     
         18 . The non-transitory computer-readable storage medium according to  claim 13 , wherein the computer instructions are further used to cause the computer to execute:
 in response to the interruption of the navigation, sending an instruction to prompt a user to stop moving.